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A multi-plane approach for ultrasound visual servoing : application to a registration task

Caroline Nadeau 1 Alexandre Krupa 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a new image-based approach to control a robotic system equipped with an ultrasound imaging device. Six optimal visual features based on the image moments are extracted from three orthogonal ultrasound images to servo in-plane and out-of-plane motions of the system. Compared to visual servoing techniques based on a single 2D US image, this approach allows a global convergence in the positioning of the probe. The second contribution of this paper is to use this method to perform a multimodal registration task by formulating it as a virtual visual servoing problem. Multimodal registration validations are performed with an ultrasound phantom containing an egg-shaped object.
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  • HAL Id : inria-00544792, version 1

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Caroline Nadeau, Alexandre Krupa. A multi-plane approach for ultrasound visual servoing : application to a registration task. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.5706-5711. ⟨inria-00544792⟩

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